diff --git a/Project/MDK/HC32F460.uvoptx b/Project/MDK/HC32F460.uvoptx
index 9c3cfd4..a349f1a 100644
--- a/Project/MDK/HC32F460.uvoptx
+++ b/Project/MDK/HC32F460.uvoptx
@@ -270,6 +270,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>App.CentCollDelay1mSCnt,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>23</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>App.Para.Layout.ControlLevel</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
diff --git a/Project/source/User/Inc/main.h b/Project/source/User/Inc/main.h
index e0cc140..cc4bb2f 100644
--- a/Project/source/User/Inc/main.h
+++ b/Project/source/User/Inc/main.h
@@ -10,7 +10,7 @@
 #define		FOLLOW_VPT			10
 #define		SHIELD_VPT			8000
 #define		EME_STOP_VPT		4000
-#define		CENTRE_VPT			8000
+#define		CENTRE_VPT			4000
 #define		CENTRE_SHIELD_VPT			2000
 
 #define 	STOP_TIME_MS		500
diff --git a/Project/source/User/Src/main.c b/Project/source/User/Src/main.c
index e464351..e1cfdb8 100644
--- a/Project/source/User/Src/main.c
+++ b/Project/source/User/Src/main.c
@@ -78,20 +78,8 @@ void RIGHTLOW_CS1237AinADataProcessCallBack(int32_t AD)
 }
 void GradeControl(ControlLevel_m level)
 {
-	switch(level){
+	switch(level){		
 		case LEVEL_1:{
-			App.ADTrack.LeftUpVPT = 5000;
-			App.ADTrack.LeftLowVPT = 5000;
-			App.ADTrack.RightUpVPT = 5000;
-			App.ADTrack.RightLowVPT = 5000;	
-			App.ADTrack.LeftUpShieldVPT = SHIELD_VPT;
-			App.ADTrack.LeftLowShieldVPT = SHIELD_VPT;
-			App.ADTrack.RightUpShieldVPT = SHIELD_VPT;
-			App.ADTrack.RightLowShieldVPT = SHIELD_VPT;
-			App.ADTrack.Stop_VPT = 4000;
-		break;}
-		
-		case LEVEL_2:{
 			App.ADTrack.LeftUpVPT = 7000;
 			App.ADTrack.LeftLowVPT = 7000;
 			App.ADTrack.RightUpVPT = 7000;
@@ -103,7 +91,7 @@ void GradeControl(ControlLevel_m level)
 			App.ADTrack.Stop_VPT = 5000;
 		break;}
 		
-		case LEVEL_3:{
+		case LEVEL_2:{
 			App.ADTrack.LeftUpVPT = 10000;
 			App.ADTrack.LeftLowVPT = 10000;
 			App.ADTrack.RightUpVPT = 10000;
@@ -115,7 +103,7 @@ void GradeControl(ControlLevel_m level)
 			App.ADTrack.Stop_VPT = 6000;
 		break;}
 		
-		case LEVEL_4:{
+		case LEVEL_3:{
 			App.ADTrack.LeftUpVPT = 15000;
 			App.ADTrack.LeftLowVPT = 15000;
 			App.ADTrack.RightUpVPT = 15000;
@@ -127,7 +115,7 @@ void GradeControl(ControlLevel_m level)
 			App.ADTrack.Stop_VPT = 10000;
 		break;}
 		
-		case LEVEL_5:{
+		case LEVEL_4:{
 			App.ADTrack.LeftUpVPT = 20000;
 			App.ADTrack.LeftLowVPT = 20000;
 			App.ADTrack.RightUpVPT = 20000;
@@ -138,6 +126,18 @@ void GradeControl(ControlLevel_m level)
 			App.ADTrack.RightLowShieldVPT = SHIELD_VPT;
 			App.ADTrack.Stop_VPT = 15000;	
 		break;}
+		
+		case LEVEL_5:{
+			App.ADTrack.LeftUpVPT = 25000;
+			App.ADTrack.LeftLowVPT = 25000;
+			App.ADTrack.RightUpVPT = 25000;
+			App.ADTrack.RightLowVPT = 25000;	
+			App.ADTrack.LeftUpShieldVPT = SHIELD_VPT;
+			App.ADTrack.LeftLowShieldVPT = SHIELD_VPT;
+			App.ADTrack.RightUpShieldVPT = SHIELD_VPT;
+			App.ADTrack.RightLowShieldVPT = SHIELD_VPT;
+			App.ADTrack.Stop_VPT = 18000;
+		break;}
 	}
 }
 #if(USE_AGC == 1)
@@ -356,15 +356,15 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					&& (abs(Oru_diff3) < (abs(Orl_diff3) + CENTRE_SHIELD_VPT))
 					)//判断是否不是正面压
 					{
-					BDC_UP();
-					LED_RED_ON();
-					LED_GREEN_OFF();
-					App.CaliZeroFlag = false;
-					App.UpFlag = true;
-					App.StopFlag = false;
-					App.DownFlag = false;
-					App.EmeFlag = false;
-					App.RunCollDelay1mSCnt = RUN_TIME_MS;
+						BDC_UP();
+						LED_RED_ON();
+						LED_GREEN_OFF();
+						App.CaliZeroFlag = false;
+						App.UpFlag = true;
+						App.StopFlag = false;
+						App.DownFlag = false;
+						App.EmeFlag = false;
+						App.RunCollDelay1mSCnt = RUN_TIME_MS;
 					}
 				}
 				else if(((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT))
@@ -529,6 +529,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				}
 			}
 		}
+		
 	}
 	else if(App.UpFlag == true && App.RunCollDelay1mSCnt <= 0)
 	{
@@ -541,19 +542,27 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (Oll_diff2 > -App.ADTrack.Stop_VPT)
 				&& (Olu_diff3 < App.ADTrack.Stop_VPT) 
 				&& (Oll_diff3 > -App.ADTrack.Stop_VPT)
-				&& (Olu_diff4 < App.ADTrack.Stop_VPT) 
-				&& (Oll_diff4 > -App.ADTrack.Stop_VPT)
-				&& (Olu_diff5 < App.ADTrack.Stop_VPT) 
-				&& (Oll_diff5 > -App.ADTrack.Stop_VPT)
-				&& (Olu_diff6 < App.ADTrack.Stop_VPT) 
-				&& (Oll_diff6 > -App.ADTrack.Stop_VPT))
-				|| (((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
+//				&& (Olu_diff4 < App.ADTrack.Stop_VPT) 
+//				&& (Oll_diff4 > -App.ADTrack.Stop_VPT)
+//				&& (Olu_diff5 < App.ADTrack.Stop_VPT) 
+//				&& (Oll_diff5 > -App.ADTrack.Stop_VPT)
+//				&& (Olu_diff6 < App.ADTrack.Stop_VPT) 
+//				&& (Oll_diff6 > -App.ADTrack.Stop_VPT)
+				)
+				|| (App.CentreRunFalg == true
+				&& ((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
 				&& ((Olu_diff2 + Oru_diff2) < (App.ADTrack.Stop_VPT*2/3))
 				&& ((Olu_diff3 + Oru_diff3) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff4 + Oru_diff4) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff5 + Oru_diff5) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff6 + Oru_diff6) < (App.ADTrack.Stop_VPT*2/3))
 				&& ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT*2/3))
 				&& ((Oll_diff2 + Orl_diff2) > -(App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff3 + Orl_diff3) > -(App.ADTrack.Stop_VPT*2/3)))
-				)
+				&& ((Oll_diff3 + Orl_diff3) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff4 + Orl_diff4) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff5 + Orl_diff5) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff6 + Orl_diff6) > -(App.ADTrack.Stop_VPT*2/3))
+				))
 			{
 				BDC_STOP();
 				LED_RED_OFF();
@@ -587,19 +596,27 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (Orl_diff2 > -App.ADTrack.Stop_VPT)
 				&& (Oru_diff3 < App.ADTrack.Stop_VPT) 
 				&& (Orl_diff3 > -App.ADTrack.Stop_VPT)
-				&& (Oru_diff4 < App.ADTrack.Stop_VPT) 
-				&& (Orl_diff4 > -App.ADTrack.Stop_VPT)
-				&& (Oru_diff5 < App.ADTrack.Stop_VPT) 
-				&& (Orl_diff5 > -App.ADTrack.Stop_VPT)
-				&& (Oru_diff6 < App.ADTrack.Stop_VPT) 
-				&& (Orl_diff6 > -App.ADTrack.Stop_VPT))
-				|| (((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
+//				&& (Oru_diff4 < App.ADTrack.Stop_VPT) 
+//				&& (Orl_diff4 > -App.ADTrack.Stop_VPT)
+//				&& (Oru_diff5 < App.ADTrack.Stop_VPT) 
+//				&& (Orl_diff5 > -App.ADTrack.Stop_VPT)
+//				&& (Oru_diff6 < App.ADTrack.Stop_VPT) 
+//				&& (Orl_diff6 > -App.ADTrack.Stop_VPT)
+			)
+				|| (App.CentreRunFalg == true
+				&&((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
 				&& ((Olu_diff2 + Oru_diff2) < (App.ADTrack.Stop_VPT*2/3))
 				&& ((Olu_diff3 + Oru_diff3) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff4 + Oru_diff4) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff5 + Oru_diff5) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff6 + Oru_diff6) < (App.ADTrack.Stop_VPT*2/3))
 				&& ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT*2/3))
 				&& ((Oll_diff2 + Orl_diff2) > -(App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff3 + Orl_diff3) > -(App.ADTrack.Stop_VPT*2/3)))
-				)
+				&& ((Oll_diff3 + Orl_diff3) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff4 + Orl_diff4) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff5 + Orl_diff5) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff6 + Orl_diff6) > -(App.ADTrack.Stop_VPT*2/3))
+				))
 			{
 				BDC_STOP();
 				LED_RED_OFF();
@@ -636,19 +653,27 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (Oll_diff2 < App.ADTrack.Stop_VPT)
 				&& (Olu_diff3 > -App.ADTrack.Stop_VPT) 
 				&& (Oll_diff3 < App.ADTrack.Stop_VPT)
-				&& (Olu_diff4 > -App.ADTrack.Stop_VPT) 
-				&& (Oll_diff4 < App.ADTrack.Stop_VPT)
-				&& (Olu_diff5 > -App.ADTrack.Stop_VPT) 
-				&& (Oll_diff5 < App.ADTrack.Stop_VPT)
-				&& (Olu_diff6 > -App.ADTrack.Stop_VPT) 
-				&& (Oll_diff6 < App.ADTrack.Stop_VPT))
-				|| (((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& (Olu_diff4 > -App.ADTrack.Stop_VPT) 
+//				&& (Oll_diff4 < App.ADTrack.Stop_VPT)
+//				&& (Olu_diff5 > -App.ADTrack.Stop_VPT) 
+//				&& (Oll_diff5 < App.ADTrack.Stop_VPT)
+//				&& (Olu_diff6 > -App.ADTrack.Stop_VPT) 
+//				&& (Oll_diff6 < App.ADTrack.Stop_VPT)
+			)
+				|| (App.CentreRunFalg == true
+				&& ((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
 				&& ((Olu_diff2 + Oru_diff2) > -(App.ADTrack.Stop_VPT*2/3))
 				&& ((Olu_diff3 + Oru_diff3) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff4 + Oru_diff4) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff5 + Oru_diff5) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff6 + Oru_diff6) > -(App.ADTrack.Stop_VPT*2/3))
 				&& ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT*2/3))
 				&& ((Oll_diff2 + Orl_diff2) < (App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff3 + Orl_diff3) < (App.ADTrack.Stop_VPT*2/3)))
-				)
+				&& ((Oll_diff3 + Orl_diff3) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff4 + Orl_diff4) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff5 + Orl_diff5) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff6 + Orl_diff6) < (App.ADTrack.Stop_VPT*2/3))
+				))
 			{
 				BDC_STOP();
 				LED_RED_OFF();
@@ -682,19 +707,27 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (Orl_diff2 < App.ADTrack.Stop_VPT)
 				&& (Oru_diff3 > -App.ADTrack.Stop_VPT) 
 				&& (Orl_diff3 < App.ADTrack.Stop_VPT)
-				&& (Oru_diff4 > -App.ADTrack.Stop_VPT) 
-				&& (Orl_diff4 < App.ADTrack.Stop_VPT)
-				&& (Oru_diff5 > -App.ADTrack.Stop_VPT) 
-				&& (Orl_diff5 < App.ADTrack.Stop_VPT)
-				&& (Oru_diff6 > -App.ADTrack.Stop_VPT) 
-				&& (Orl_diff6 < App.ADTrack.Stop_VPT))
-				|| (((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& (Oru_diff4 > -App.ADTrack.Stop_VPT) 
+//				&& (Orl_diff4 < App.ADTrack.Stop_VPT)
+//				&& (Oru_diff5 > -App.ADTrack.Stop_VPT) 
+//				&& (Orl_diff5 < App.ADTrack.Stop_VPT)
+//				&& (Oru_diff6 > -App.ADTrack.Stop_VPT) 
+//				&& (Orl_diff6 < App.ADTrack.Stop_VPT)
+				)
+				|| (App.CentreRunFalg == true
+				&& ((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
 				&& ((Olu_diff2 + Oru_diff2) > -(App.ADTrack.Stop_VPT*2/3))
 				&& ((Olu_diff3 + Oru_diff3) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff4 + Oru_diff4) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff5 + Oru_diff5) > -(App.ADTrack.Stop_VPT*2/3))
+//				&& ((Olu_diff6 + Oru_diff6) > -(App.ADTrack.Stop_VPT*2/3))
 				&& ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT*2/3))
 				&& ((Oll_diff2 + Orl_diff2) < (App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff3 + Orl_diff3) < (App.ADTrack.Stop_VPT*2/3)))
-				)
+				&& ((Oll_diff3 + Orl_diff3) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff4 + Orl_diff4) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff5 + Orl_diff5) < (App.ADTrack.Stop_VPT*2/3))
+//				&& ((Oll_diff6 + Orl_diff6) < (App.ADTrack.Stop_VPT*2/3))
+				))
 			{
 				BDC_STOP();
 				LED_RED_OFF();
@@ -755,8 +788,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 		&& App.RightLowCS1237_SlopeArray[2] < FOLLOW_VPT
 		&& App.RightLowCS1237_SlopeArray[2] > -FOLLOW_VPT) 
 	{
-		if(App.StopFlag == true 
-		&& App.StopCollDelay1mSCnt <= 0){
+		if((App.StopFlag == true 
+		&& App.StopCollDelay1mSCnt <= 0)
+		|| (App.MotorPara.Current_height >= 1440)
+		|| (App.MotorPara.Current_height <= 1000))
+		{
 			App.ADTrack.LeftUp_Org_AdZero = lu_ad[0];
 			App.ADTrack.LeftLow_Org_AdZero = ll_ad[0];
 			App.ADTrack.RightUp_Org_AdZero = ru_ad[0];